An opening and closing modular puncture needle guiding sleeve

Abstract

The present invention relates to a puncture needle guiding sleeve with an opening and closing modular structure, which includes an adapter block, a rotating main shaft, and an opening and closing module. The adapter block is installed on the rotating main shaft. There are at least two opening and closing modules, which are arranged in sequence from top to bottom and have the same structure. The rotating main shaft passes through each opening and closing module, and the opening and closing actions of each opening and closing module are independent of each other; each opening and closing module includes a left claw and a right claw. The rotating shaft hole of the opening and closing module passes through the left claw and the right claw, and the rotating shaft hole is matched with and coaxial with the rotating main shaft. The left claw and the right claw make a rotating motion around the rotating main shaft driven by a knob and a transmission gear to realize the opening and closing action; a semi-cylindrical groove one is designed on the left claw, and a semi-cylindrical groove two is designed on the right claw. The semi-cylindrical groove one and the semi-cylindrical groove two form a puncture needle channel when the left claw and the right claw are closed; compared with the prior art, the present invention can realize the guiding and maintaining of the puncture needle direction and solve the problem that the puncture needle direction is prone to deviation in traditional percutaneous biopsy.

Description

[Technical Field]

[0001] The present invention relates to the field of medical devices, particularly to the field of puncture biopsy operations for the lungs, liver, urinary system, etc. Specifically, it is a split-module puncture needle guiding sleeve. [Background Art]

[0002] Puncture biopsy is widely used for extracting samples of diseased tissue in the human body, and plays a positive role in the early detection and diagnosis of malignant diseases. Puncture biopsy requires positioning the puncture needle to the target lesion area. Currently, the puncture process is manually completed. After the doctor determines the puncture point and puncture direction on the patient's body surface, one hand holds the needle body and the other hand makes a pushing motion. This is likely to cause deviation in the direction of the puncture needle, resulting in puncture failure. To solve this problem, a method combining multiple CT scans and multiple direction adjustments is generally adopted, which has disadvantages such as the patient receiving a large amount of radiation and a long operation time, and is also prone to complications such as local hemoptysis and pneumothorax.

[0003] In recent years, puncture surgical robots have emerged to assist doctors in completing puncture positioning. However, the sleeve at the end of the robot for guiding the puncture needle into the needle still has the following technical problems: (1) The short sleeve cannot limit the direction of the puncture needle entering the needle, and deviation is likely to occur; (2) Since the length of commercial puncture needles is generally about 100 mm, the long sleeve limits the depth of the puncture needle entering the needle and there are risks such as collision. [Summary of the Invention]

[0004] The purpose of the present invention is to solve the above deficiencies and provide a split-module puncture needle guiding sleeve, which can realize the guidance and maintenance of the direction of the puncture needle and solve the problem that the direction of the puncture needle is prone to deviation in traditional puncture biopsy.

[0005] To achieve the above purpose, a split-module puncture needle guiding sleeve is designed, including an adapter block 1, a rotating main shaft 30, and split modules. The adapter block 1 is installed on the rotating main shaft 30. There are at least two split modules, and at least two split modules are arranged in sequence from top to bottom and have the same structure. The rotating main shaft 30 penetrates through each split module, and the opening and closing actions of each split module are independent of each other. Each split module includes a left claw and a right claw. The rotating shaft hole of the split module penetrates through the left claw and the right claw. The rotating shaft hole is matched with and coaxial with the rotating main shaft 30. The left claw and the right claw make a rotating motion around the rotating main shaft 30 driven by a knob and a transmission gear to realize the opening and closing action. A semi-cylindrical groove one is designed on the left claw, and a semi-cylindrical groove two is designed on the right claw. The semi-cylindrical groove one and the semi-cylindrical groove two form a puncture needle channel when the left claw and the right claw are closed. The puncture needle channel is used for the puncture guiding needle 21 to pass through.

[0006] Preferably, it further includes an axis-aligned rod 2. Axis-aligned holes are provided on each opening and closing module. When the axis-aligned rod 2 passes through each opening and closing module through the axis-aligned holes, the puncture needle channels of each opening and closing module are axis-aligned.

[0007] Preferably, the opening and closing module includes an opening and closing first module 3, an opening and closing second module 4, and an opening and closing third module 5. A knob A 6, a knob B 25, and a knob C 29 are respectively provided on the opening and closing first module 3, the opening and closing second module 4, and the opening and closing third module 5, and the opening and closing are respectively controlled by the knob A 6, the knob B 25, and the knob C 29.

[0008] Preferably, the opening and closing first module 3 includes a knob A 6, a gear A 7, a left claw A 10, a right claw A 12, a flat tooth disk one A 13, and a flat tooth disk two A 14. The rotation shaft hole A 8 of the opening and closing first module 3 passes through the left claw A 10 and the right claw A 12, and the rotation shaft hole A 8 is matched with and coaxial with the rotation main shaft 30. A flat tooth disk one A 13 is designed on the left claw A 10, a flat tooth disk two A 14 is designed on the right claw A 12, both the flat tooth disk one A 13 and the flat tooth disk two A 14 are meshed and connected with the gear A 7, the gear A 7 is connected to the knob A 6. When the knob A 6 rotates, it drives the gear A 7 to rotate, and further drives the left claw A 10 and the right claw A 12 to make a rotational movement around the rotation main shaft 30. The rotation main shaft axis 31 of the rotation main shaft 30 is coaxial with the flat tooth disk one A axis 32 of the flat tooth disk one A 13.

[0009] Preferably, a semi-cylindrical groove one A 15 is designed on the left claw A 10 of the opening and closing first module 3, a semi-cylindrical groove two A 16 is designed on the right claw A 12, the inner diameters of the semi-cylindrical groove one A 15 and the semi-cylindrical groove two A 16 are the same. When the left claw A 10 and the right claw A 12 are closed, the semi-cylindrical groove one A 15 and the semi-cylindrical groove two A 16 form a puncture needle channel A 11.

[0010] Preferably, both the semi-cylindrical groove one A 15 and the semi-cylindrical groove two A 16 are designed as a combined groove of a semi-conical groove 34 and a semi-cylindrical groove 35. The semi-conical groove 34 is arranged at the upper part, the semi-cylindrical groove 35 is arranged at the lower part, and the axes of the semi-conical groove 34 and the semi-cylindrical groove 35 are the same, which is the puncture needle channel A axis 32 of the puncture needle channel A 11.

[0011] Preferably, the meshing between the flat tooth disk one A 13 and the gear A 7 adopts a bevel gear meshing method, and the meshing between the flat tooth disk two A 14 and the gear A 7 also adopts a bevel gear meshing method.

[0012] Preferably, the axis 31 of the rotating main shaft is coaxial with the rotating axis A17 of the first opening and closing module 3, and the axis 31 of the rotating main shaft is also coaxial with the rotating axes of the second opening and closing module 4 and the third opening and closing module 5.

[0013] Compared with the prior art, the present invention provides a puncture needle guiding sleeve with an opening and closing module for the problem of guiding the puncture needle that exists in both traditional manual puncture and robot-assisted puncture. It can realize the guiding and maintaining of the puncture needle direction, solve the problem that the puncture needle direction is prone to deviation in traditional puncture biopsy, and this guiding sleeve is not only suitable for maintaining the puncture needle direction in traditional manual puncture, but also suitable for maintaining the puncture needle direction in robot-assisted puncture, and has important practical application value in puncture biopsy surgery. [Description of Drawings]

[0014] Figure 1 is a side view of the present invention;

[0015] Figure 2 is a perspective view of the present invention in the closed state of the opening and closing module;

[0016] Figure 3 is perspective view A of the present invention in the open state of the opening and closing module;

[0017] Figure 4 is perspective view B of the present invention in the open state of the opening and closing module;

[0018] Figure 5 is a perspective view of the present invention;

[0019] Figure 6 is a perspective view of the first opening and closing module of the present invention in the open state;

[0020] Figure 7 is a perspective view of the first opening and closing module and the second opening and closing module of the present invention in the open state at the same time;

[0021] Figure 8 is a schematic diagram of a variation example of the puncture needle channel of the present invention;

[0022] In the figure: 1. Adapter block; 2. Axis alignment rod; 3. First opening and closing module; 4. Second opening and closing module; 5. Third opening and closing module; 6. Knob A; 7. Gear A; 8. Rotary shaft hole A; 9. Axis alignment hole A; 10. Left claw A; 11. Puncture needle channel A; 12. Right claw A; 13. First flat tooth disc A; 14. Second flat tooth disc A; 15. First semi-cylindrical groove A; 16. Second semi-cylindrical groove A; 17. Rotary axis A; 18. First rotation direction; 19. Second rotation direction; 20. Third rotation direction; 21. Puncture guiding needle; 22. Left claw B; 23. Right claw B; 24. Gear B; 25. Knob B; 26. Left claw C; 27. Right claw C; 28. Gear C; 29. Knob C; 30. Rotary main shaft; 31. Rotary main shaft axis; 32. First flat tooth disc A axis; 33. Puncture needle channel A axis; 34. Semi-conical groove; 35. Semi-cylindrical groove. [Specific implementation manner]

[0023] The present invention will be further described below with reference to the accompanying drawings:

[0024] The present invention provides a puncture needle guiding sleeve with an opening and closing module, which realizes the guiding and maintaining of the puncture needle direction. The puncture needle guiding sleeve with an opening and closing module may include a plurality of opening and closing modules, and the number of the opening and closing modules may be two, three, four or more. Its structure mainly includes an adapter block 1, an axis alignment rod 2, a rotary main shaft 30 and the opening and closing modules. The adapter block 1 is installed on the rotary main shaft 30. There are at least two opening and closing modules, and at least two opening and closing modules are arranged in sequence from top to bottom and have the same structure. The rotary main shaft 30 passes through each opening and closing module, and the opening and closing actions of each opening and closing module are independent of each other; each opening and closing module includes a left claw and a right claw. The rotary shaft hole of the opening and closing module passes through the left claw and the right claw. The rotary shaft hole is matched with and coaxial with the rotary main shaft 30. The left claw and the right claw rotate around the rotary main shaft 30 under the drive of a knob and a transmission gear to realize the opening and closing action; a first semi-cylindrical groove is designed on the left claw, and a second semi-cylindrical groove is designed on the right claw. The first semi-cylindrical groove and the second semi-cylindrical groove form a puncture needle channel when the left claw and the right claw are closed. The puncture needle channel is used for the puncture guiding needle 21 to pass through. An axis alignment hole is provided on each opening and closing module. When the axis alignment rod 2 passes through each opening and closing module through the axis alignment hole, the puncture needle channels of each opening and closing module are axis-aligned. During use, the adapter block 1 is respectively butted with the rotary main shaft 30 and the end of the robotic arm. The puncture needle guiding sleeve can be installed on the robotic arm through the adapter block 1 for robot-assisted puncture.

[0025] The present invention will be further described below by taking three opening and closing modules as an example:

[0026] The opening and closing modular puncture needle guiding sleeve mainly includes an adapter block 1, an axis alignment rod 2, a first opening and closing module 3, a second opening and closing module 4, a third opening and closing module 5, and a rotating main shaft 30. The rotating main shaft 30 passes through the first opening and closing module 3, the second opening and closing module 4, and the third opening and closing module 5; the axis of symmetry of the rotating main shaft 30 is the rotating main shaft axis 31; the rotating main shaft axis 31 is coaxial with the rotating axis A 17 of the first opening and closing module 3, and is also coaxial with the rotating axes (not shown, the same as the rotating axis A 17) of the second opening and closing module 4 and the third opening and closing module 5.

[0027] The axis alignment rod 2 passes through the first opening and closing module 3, the second opening and closing module 4, and the third opening and closing module 5; the axis alignment rod 2 passes through the first opening and closing module 3 through the axis alignment hole A 9, and also passes through the axis alignment holes (not shown, the coaxial alignment hole A 9) on the second opening and closing module 4 and the third opening and closing module 5.

[0028] The first opening and closing module 3 includes a knob A 6, a gear A 7, a left claw A 10, a right claw A 12, a first flat tooth disc A 13, and a second flat tooth disc A 14; the rotating shaft hole A 8 of the first opening and closing module 3 passes through the left claw A 10 and the right claw A 12, and the rotating shaft hole A 8 cooperates with and is coaxial with the rotating main shaft 30; the left claw A 10 and the right claw A 12 rotate around the rotating main shaft 30; a first flat tooth disc A 13 is designed on the left claw A 10; the first flat tooth disc A 13 meshes with the gear A 7; a second flat tooth disc A 14 is designed on the right claw A 12; the second flat tooth disc A 14 meshes with the gear A 7; the gear A 7 is connected to the knob A 6; when the knob A 6 rotates, it drives the gear A 7 to rotate, and further drives the left claw A 10 and the right claw A 12 to rotate around the rotating main shaft 30, and the rotating main shaft axis 31 is coaxial with the axis 32 of the first flat tooth disc A.

[0029] A first semi-cylindrical groove A 15 is designed on the left claw A 10 of the first opening and closing module 3, and a second semi-cylindrical groove A 16 is designed on the right claw A 12; the inner diameters of the first semi-cylindrical groove A 15 and the second semi-cylindrical groove A 16 are the same; when the left claw A 10 and the right claw A 12 are closed, the first semi-cylindrical groove A 15 and the second semi-cylindrical groove A 16 form a puncture needle channel A 11.

[0030] The structural compositions of the second opening and closing module 4 and the third opening and closing module 5 are the same as those of the first opening and closing module 3.

[0031] The opening and closing actions of the first opening and closing module 3, the second opening and closing module 4, and the third opening and closing module 5 are independent of each other; a knob A 6, a knob B 25, and a knob C 29 are respectively arranged on the first opening and closing module 3, the second opening and closing module 4, and the third opening and closing module 5; the opening and closing of the first opening and closing module 3 are controlled by the knob A 6, the opening and closing of the second opening and closing module 4 are controlled by the knob B 25, and the opening and closing of the third opening and closing module 5 are controlled by the knob C 29.

[0032] When the shaft-aligned rod 2 passes through the first opening and closing module 3, the second opening and closing module 4, and the third opening and closing module 5, the puncture needle channel A 11 of the first opening and closing module 3 and the puncture needle channels (not shown, the same as the puncture needle channel A 11) of the second opening and closing module 4 and the third opening and closing module 5 are axially aligned, and the puncture guiding needle 21 can pass through all the puncture needle channels.

[0033] The meshing of the first planar gear disk A 13 and the gear A 7 can adopt the bevel gear meshing method or other methods; the meshing of the second planar gear disk A 14 and the gear A 7 can adopt the bevel gear meshing method or other methods.

[0034] The first semi-cylindrical groove A 15 and the second semi-cylindrical groove A 16 can be designed in the form of a combination of a semi-conical groove 34 and a semi-cylindrical groove 35. The semi-conical groove 34 is arranged in the upper part, and the semi-cylindrical groove 35 is arranged in the lower part. The axes of the semi-conical groove 34 and the semi-cylindrical groove 35 are the same, which is the axis 32 of the puncture needle channel A. The design of the semi-conical groove 34 is beneficial to the puncture guiding needle 21 entering the puncture needle channel.

[0035] Now taking the first opening and closing module 3 as an example for illustration, the opening and closing of the left claw A 10 and the right claw A 12 are controlled by rotating the knob A 6:

[0036] (1) When the knob A 6 rotates in the second rotation direction 19, the left claw A 10 rotates in the first rotation direction 18, and the rotation axis A17 is its axis; at the same time, the right claw A 12 rotates in the third rotation direction 20, and the rotation axis A 17 is its axis; the left claw A 10 and the right claw A 12 open;

[0037] (2) When the knob A 6 rotates in the reverse direction of the second rotation direction 19, the left claw A 10 and the right claw A 12 close.

[0038] The initial state of the puncture needle guiding sleeve is as Figure 5 shown. The first opening and closing module 3, the second opening and closing module 4, and the third opening and closing module 5 are all in the closed state, and the puncture guiding needle 21 can pass through the puncture needle channels of all the modules.

[0039] Rotate the knob A 6 to open the first opening and closing module 3, keep the knob B 25 and the knob C 29 stationary, and the second opening and closing module 4 and the third opening and closing module 5 remain closed, as Figure 6 shown. At this time, the puncture guiding needle 21 can be advanced. Since the left claw B 22 and the right claw B 23 are closed, and the left claw C 26 and the right claw C 27 are closed, there are enough parts of the puncture needle guiding sleeve to maintain the advancing direction of the puncture guiding needle 21.

[0040] Continue to rotate the knob B 25 to rotate the gear B 24 and open the second opening and closing module 4, keep the knob C 29 stationary, and the third opening and closing module 5 remains closed, asFigure 7 As shown. At this time, the puncture guiding needle 21 can be further advanced. Since the left claw C 26 and the right claw C 27 are closed, a part of the puncture needle guiding sleeve still maintains the advancing direction of the puncture guiding needle 21, and at this time, the puncture guiding needle 21 has entered the body.

[0041] If the lesion location is relatively deep from the body surface, the knob C 29 can be continuously rotated to rotate the gear C 28 to open the third opening and closing module 5. At this time, the puncture guiding needle 21 can be further advanced.

[0042] The present invention is not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. An opening and closing modular puncture needle guiding sleeve, characterized in that: It includes an adapter block (1), a rotating main shaft (30) and an opening / closing module. The adapter block (1) is installed on the rotating main shaft (30). There are at least two opening / closing modules, and at least two opening / closing modules are arranged in sequence from top to bottom and have the same structure. The rotating main shaft (30) passes through each opening / closing module, and the opening / closing actions of each opening / closing module are independent of each other. Each opening / closing module includes a left claw and a right claw. The rotating shaft hole of the opening / closing module passes through the left claw and the right claw. The rotating shaft hole is in cooperation with and coaxial with the rotating main shaft (30). The left claw and the right claw make a rotating motion around the rotating main shaft (30) driven by a knob and a transmission gear to realize the opening / closing action. A semi-cylindrical groove one is designed on the left claw, and a semi-cylindrical groove two is designed on the right claw. The semi-cylindrical groove one and the semi-cylindrical groove two form a puncture needle channel when the left claw and the right claw are closed. The puncture needle channel is used for the puncture guiding needle (21) to pass through. It also includes an axis alignment rod (2). Each opening / closing module is provided with an axis alignment hole. When the axis alignment rod (2) passes through each opening / closing module through the axis alignment hole, the puncture needle channels of each opening / closing module are axially aligned. The opening / closing module includes an opening / closing first module (3), an opening / closing second module (4) and an opening / closing third module (5). A knob A (6), a knob B (25) and a knob C (29) are respectively arranged on the opening / closing first module (3), the opening / closing second module (4) and the opening / closing third module (5), and the opening / closing is respectively controlled by the knob A (6), the knob B (25) and the knob C (29). The opening / closing first module (3) includes a knob A (6), a gear A (7), a left claw A (10), a right claw A (12), a flat tooth disc one A (13) and a flat tooth disc two A (14). The rotating shaft hole A (8) of the opening / closing first module (3) passes through the left claw A (10) and the right claw A (12). The rotating shaft hole A (8) is in cooperation with and coaxial with the rotating main shaft (30). A flat tooth disc one A (13) is designed on the left claw A (10), and a flat tooth disc two A (14) is designed on the right claw A (12). Both the flat tooth disc one A (13) and the flat tooth disc two A (14) are meshed and connected with the gear A (7). The gear A (7) is connected to the knob A (6). When the knob A (6) rotates, it drives the gear A (7) to rotate, and then drives the left claw A (10) and the right claw A (12) to make a rotating motion around the rotating main shaft (30). The rotating main shaft axis (31) of the rotating main shaft (30) is coaxial with the flat tooth disc one A axis (32) of the flat tooth disc one A (13).

2. The opening and closing modular puncture needle guiding sleeve according to claim 1, characterized in that: A semi-cylindrical groove one A (15) is designed on the left claw A (10) of the opening / closing first module (3), and a semi-cylindrical groove two A (16) is designed on the right claw A (12). The inner diameters of the semi-cylindrical groove one A (15) and the semi-cylindrical groove two A (16) are the same. When the left claw A (10) and the right claw A (12) are closed, the semi-cylindrical groove one A (15) and the semi-cylindrical groove two A (16) form a puncture needle channel A (11).

3. The piercing needle guiding sleeve of the opening and closing modular type according to claim 2, characterized in that: The semi-cylindrical groove 1A (15) and the semi-cylindrical groove 2A (16) are both designed as grooves combined by a semi-conical groove (34) and a semi-cylindrical groove (35). The semi-conical groove (34) is arranged at the upper part, and the semi-cylindrical groove (35) is arranged at the lower part. The axes of the semi-conical groove (34) and the semi-cylindrical groove (35) are the same, which is the axis (32) of the puncture needle channel A (11) of the puncture needle channel A.

4. The opening and closing modular puncture needle guiding sleeve according to claim 1, characterized in that: The meshing of the plane gear disk 1A (13) and the gear A (7) adopts the meshing mode of bevel gears. The meshing of the plane gear disk 2A (14) and the gear A (7) also adopts the meshing mode of bevel gears.

5. The puncture needle guiding sleeve of the opening and closing modular type according to claim 1, wherein: The axis (31) of the rotating main shaft is coaxial with the axis A (17) of the opening and closing first module (3). The axis (31) of the rotating main shaft is also coaxial with the axes of the opening and closing second module (4) and the opening and closing third module (5).

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